Automatic stabilizing apparatus



. L. l. HENRY. v AUTOMATIC STABILIZING APPARATUS.

I v APPLICATION FILED FEB- 27] 1919. 1,335,893. Patented Apr. 6, 1920.

L. I. HENRY. AUTOMATIC STABILIZING APPARATUS. APPLICATION FILED FEB.27,I9I9.

1,335,893. I Patent d Apr. 6, 1920.

4 SHEET-SHEET 2.

1 "HI?"- v L.

Iran r 51 L. llen-ry L. l. HENRY.

AUTOMATIC STABILIZING APPARATUS. APRLICATION FILED FEB. 21, 1919.

Pate

nted Apr. 6,1920.

4 SHEETS-SHEET 3- .14 Ira? L. I. HENRY.

AUTOMATIC STABILIZING APPARATUS.

APPLICATION FILED FEB- 27| I9I9.

Patented Apr. 6,

19266, 4 SHEETS-SHEET 4.

UNITED STATES. PATENT OFFICE.

LOUIS ISIIDORE HENRY, or roUL'oN, FRANCE.

AUTOMATIC STABILIZING- APPARATUS.

Application filed February 2'7, 1919.

To all whom it may concern Be it known that l, LOUIS IsIDoRnI-InNRY,

a citizen of the French Republic, residing at Toulon, France, haveinvented certain new and useful Improvements in Automatic StabilizingApparatus, of which the following is a specification.

i This invention relates to automatic stabilizing devices for use inconnection with all vehicles which move in fluids such as air(aeroplanes), water (submarines), air and water (vessels plying on thesurface of the lizing device which forms the subject of the presentinvention, is to set in operation auxiliary surfaces or blades, whoseresistance to the fluid, by reason of the speed of travel of the vessel,counteracts the pitching and roll- .ing movements of the vessel andrestores its equilibrium. Since, in order that the blades enter intoaction, it is necessary that the oscillatory movements be started, theselatter must not be completely suppressed, but must be rapidly moderatedand restricted in such manner that their amplitude is confined withinnarrow limits. 1

This automatic stabilizing device comprises a member termed a verticalmember which is a pendulum constructed and suspended so as to remainvertical, or in a fixed position near the vertical, whatever be themovement of its point of suspensiondue to the travel and oscillations ofthe vessel, this vertical member maintaining a fixed direction in spacewith respect to the horizontal plane. The vessel in its oscillationsmoves with respect thereto, or reversely if it is con sidercd that thevertical member oscillates irregularly with respect to the vessel aboutits point of suspension. These movements of the vertical member withrespect to the vessel are utilized to act on shafts rigidly attached tothe vessel, which set in action. the blades provided to counteract thepitching and rolling movements ofthe vessel. -As a matter of fact thependulum or vertical member is too sensitive to control these/elementsdirectly without deranging the equi- Specification of Letters Patent.

resented in Patented Apr. 6,1920.

Serial No. 279,663.

librium of the vessel. To remedy this there is interposed between thependulum and the elements controlling the blades an intermediateelementtermed the stabilizer, which is likewise a pendulum connected to themain pendulum by an auxiliary device so as to follow exactly allmovements with respect to the vessel, and itself actuating the-control Telements of the blades. The reactions of these elements on thestabilizerare balanced by compressed air, which is the medium of servicebetween the stabilizerand the pendulum, and none of these reactions aretransmitted tothe latterr f An embodiment of this invention, by way ofexample, is described hereinafter and repwhich:

Figure 11s a sideview, partly in section,

of the entire device with certain partsbroken away for the purpose ofclearness. Figs. 2 to 5 show one ofthetwo similar elements intended toserve the pendulum v stabilizer, called stabilizing cylinders, Fig. 2being a sectional elevation, Fig. 8 a plan,

Figsyeiand 5 an elevation and plan.

Fig. 6' represents one of the two falsestabilizing cylinders intended toovercome the effects of inertia of the slides of the true stabilizingcylinders on the pendulum.

Fig. 7 represents a mechanism for connecting and rendering immovable thependulum and the stabilizing device from each other and from the vessel.

Fig. 8 is a diagram ofthe connection of the device with the motors ofthe blades, for clutching and releasing them.

The pendulum proper or vertical member is a solid of revolution, notcapable of being changed in form, and consists of the parts referred tohereinafter.

A member 1 in the form of an extremely elongated bell,supporting a ring2 by means of arms 1 is suspended from a hollow rod 3 terminating in aweight 4 the height of which on rod 3 may be regulated by means of screwthreads. This pendulum is .provided, interiorly at its upper end, with asus pension pivot whose point is at 5. The-center of gravity of thependulum is adjusted so as to be exactly at 5. It may be. brought therewith great exactitudeby regulating the height of the masse, and by'theradial diswhich it carries the accompanying drawings in By meansof-itspivot the penduIuin'rests socket is se'atedin a semi-sphericalhead 8 having the point 5 as a center. 'To the upper Jart 1 of the bellthere is screwed a lower part 1' provided interiorly with asemi-spherical bearing surface forming a snug fitting ball and socketjoint with the head 8. Part 1 is provided with a toothed crown 1actuated by a worm 1* carried by a bearing arm fixed tothe upper part 1,and inanipulated'by a wheel 1. Another arm 1 ofthe part1, locatedopposite the first carries two rollers 1 which travel in respect to eachother;

upper and lower grooves of the toothed crown 1 to guide members 1 and 1with The wheel 1 rotates with the member 1? and moves vertically withrespect thereto by sliding vertically on pins 1 carric'dby the member 1Compressed air from any suitable source passes through the tube 6 intothe hollow rod'3 of the pendulum. The joint formed at the head 8 allowsonly a minute leakage of air 2113 111118 point and the air passesthrough tubes '3 and 3 at a greater pressure than that for which it isutilized.

Another tube 9 surrounds the hollow rod 6 and terminates at the top in aset of tubes 10 which direct compressed air against a suitable surfacelocated within the base of hell 1. The plane of this set of tubes isperpendicular to the axis of the rod 6, that is, horizontal when thelatter is vertical in the normal position of the vessel traveling oncalm fluids. blowing nozzles which. are similar and uniformlydistributed, to form a'crown which directs a continuous and uniformblast of air over the entire inner circumference of the base of thependulum 1.

The stabilizer or member intermediate lillG-]')(-\I1(llll1l1l1 and thecontrol elenuents of the ailerons for stabilization of the vesselinclude the chieit elements hereinafter de rounds the rod 3 V carrles atits upper part a weight 15 whose height on the rod may be regulatedbyscr bed. It consists (Fig. 1)- of a bell 12, lirallasted at the bottomby a weight ring 13 surmounted by a tubular rod 14; which surof thependulum, and

means of screw threads. This stabilizer has a semi-spherical surface 17resting on balls r 18, mountedon another send-spherical sur-- face 16formingpart of the pendulum 1.

chamber 32 of the sleeve 31.

The set of tubes comprises stabilizer is also at the point of suspension5, being brought there with great accuracy "by regulation of the heightof the weight with the vessel during pitching and rolling of the vessel.1

Referring to FigsQ, 3 and 5, it will be seen that each stabilizingcylinder 28 has a slide 39 for distributing compressed air to theinterior of the cylinder and on 0pposite sides of a piston 27 which isslidably mounted within the cylinder. This slide has a hollow rod 38terminating in a fork 38 the arms of which are pivotally connected withpins 20 fixed to an oscillatable One of them is shown dia- V andslidable sleeve 31 carried by the hollow rod 3. As shown in Fig. 3, thehollow rod 3 is provided with a pluralityof holes which permitcompressed air from the interior of the rod to pass into an annular Fromthis chamber the air is conveyed bypipes 33 to the interior of thehollow sliderod 38.

The piston 27 is controlled by the slide 39 and is rigidly connected bytube 34 and arms 34 to pins 20 fixed to a sleeve 36, which turns andslides on the tube 14 of the stabilizer. When the axes of tubes 3 and'14: coincide the axes of pins 20 and 20 are coaxial.

The corresponding elements of the second stabilizing cylinder (notshown), the axis of which is in the median plane perpendicular to theplane of Fig. l, are connected to the rod 3 of the pendulum by pins 21,and to the rod 14: of the stabilizer by pins 22, which also have thesame axis as pins 21 when the axes of tubes 3 and 14 coincide. Thestabilizer, caused by the reactions of the blade control elements toassume rotary movements about point 5, would entrain therewith in thesemovements the pistons connected to it. dowever, none of these movementstake place, and the pistons have no other movements than those of theslides lizer. The two surfaces 16 and 1'? also have their centers at o.The center of gravity of the The bell 12 of the stabilizer has a certainnumber of toothed arcs such as 2324, (this number varies accordingly asit is desired to operate for longitudinal stabilization only, or forlateral stabilization only, or for both simultaneously, or whether onlyone or two governors or blades are used for each of thesestabilizations) engaging with pinions 25 whose axes are connected to thesurfaces of the vessel shown diagraminatically at 26. The toothed arcs23, 24 are mounted and rotate on horizontal axes 23 24 which passthrough the point of suspension 5. The

arcs formed by the teeth of the parts 2324:

have said point 5 as a center and are concentric with the semi-sphericalsurface 8. By means of suitable connections, pinions 'actuatethe controlslides of the motors which manipulate the stabilization surfaces orailerons. These pinions 25 have a flange at each side as shown in F 8 toengage the toothed arcs with which the pinions mesh in such manner as tobe able to carry the arcs along.

The constant coincidence of the axis of the stabilizer with that of thependulum proper or vertical member 1 is assured by two stabilizingcylinders 19, exactly alike, which have. been mentioned heretofore.

lVith the pendulum proper or vertical member there is connected (Fig. ina manner hereinbeforedescribed. the hollow rod 38 of a cylindrical slide39 for the distribution of compressed air, inside a piston 27concentric'with the slide and which folcalled a stabilizing cylinder,whose axis A) is also that of the piston and of the slide. This axis(AA) is in a'plane perpendicular to the axis of the tube 6 and mayrotate about axis (BB) parallel to that of tube 6 and may meet, at apoint 29,-the axis of the pendulum 1. The slide 39 controls the piston27 by means of compressed air, in the manner hereinafter described. Thecompressed air arrives through the hollow rod 38 and passes to a duct 76provided in the slide 3 9. This duct 7 6 communicates, when the pistonmoves inside the cylinder 28, with one'of both ducts 77 or 78 providedin the piston on each side of the axis A'A and directed in oppositedirections to each other, The compressed air will so act on either sideof the piston as to move it in a direction corresponding to thedisplacement of the slide 27. The stabilizing cylinder 28 is connectedto the vessel in the following manner. The points a forming the ends ofaxis (aa) about which the cylinder 28 freely rotates, forms part of aframe 30 which rotates freely itself about the. axis '(7) which crossesthe axis (aa) and is parallel to the axis of tube 6. When thevesseloscillates about the point of suspension 5 of the pendulum onpitching and rolling about a momentary horizontal axis of rotation, ofany azimuth, passing through this point, the cylinder 19 oscillatesaboutthe axis (22-7)) moving with the vessel, and the axes of thecylinder 19 and slide 39 pivots on the sleeve 31, which can turn on therod 3. It is therefore, evident that for very slight pitching androlling angles the point of contact of the slide axis with the pendulumaxis, is moved very little with respect to the latter, and the sleeve 31scarcely oscillates on its axis- The axis c0 always remainsperpendicular to the axis of the pendulum, Pistons 27 accurately followthe movement of the slides39 in the cylinders 28.

hen the vessel is immovable about the point of suspension the mountingof the device'is such that the axes of the pendulum l and of thestabilizer coincide, The axes of the spindles or trundles of the sleeves31' and 32, which substantially coincide when at rest, coincide stillmore accurately in operation, consequently the axis of the cylindricalrod 1% will thus have for a common point with the axis of the pendulum,that at which he stabilizer thus always ha an axis pass-..

ing through point 5, and which having two points common with the axis ofthe pendulum, coincides exactly therewith.

The entire assemblage of the slide 39 and its connection with thependulum 'is'balanced (Fig. 2) on the piston 27 and its connection withthe stabilizer is balanced on the stabilizing cylinder 28 by acounterweight 37. As a constructional detail the slide is provided atits lower part. with a slight internal cavitywhere the full pressure ofthe compressedair may be exerted to relieve the weight and diminishfriction'in its very slight movements with respect'to the piston. (Fig.2). I

As has been stated above, there are two identical constructions ofstabilizing cylinders the axis (a -a of the second cylinder is like that(a a) of the first, perpendicular to the axis of the tube 6 bringing inthe com-- pressed air, but in an azimuth passing through this latteraxis located at from that of axis (a e). The two azimuths will, forexample, be 5 on. each side of the vertical longitudinal plane ofsymmetry of the vessel. The axisof the two cylinders are at a certainvertical distance from each other,

nection with the pistons and slides of the stabilizing cylinders, duringthe entire period of operation of the device, the whole pendulumstabilizer may be further subjected to periods of magnitude, directionthe slides is to be contended with, and not that of the pistons. Theoperation of the controlling of the pistons by the slides throughcompressed air combined with the 90 arrangement of the axes of the twocylinders of stabilization, brings back the force of inertia of thepistons to the axes (Z) 1)) that is,to the vessel. For opposing theinertia of the slides, in accordance with the present invention, anotherassemblage l0 has been conceived to. correspond with each assemblage 19(Fig. 1) (cylinder, piston, slide and connections with thependulum-stabi lizer assemblage). In fact, it we assume that the vesseltravels 111 a calm without pitching or rolling, at the moment atwhichthe velocity will be increased, the slide will have found its force ofinertia. The latter in any direction has a force according to the direction of the rod ofthis slide and a perpendicular force in thisdirection. The slide can only have the first of these forces by pullingon the pendulum rod. There is hence required a member of the same bulkas the slide symmetrical thereto with respect to the point of suspensionof the device and connected to the pendulum at a point symmetrical tothe point of attachment of the slide in order to neutralize the momentthus created. The stress of the force of inertia perpendicular to thedirection of the rod will be provided during the inoperation of theapparatus, by the reaction of the vessel on the axis 6-5 which comprisesthe center of gravity of the slide, but during operation this center ofgravity moves from the axis and the compensation for the moment thuscreated will be effected by the same arrangement as above, consequentlythis assemblage a0 shown in Fig. 6 will comprise a frame as pivotedabout a vertical axis l4;--4l-5, connected. to the vessel and arrangedparallel to the pivotal axis 6-?) of the frame of the assemblage 19 withrespect to the suspension point 5 of the pendulum. The stabilizingcylinder is replaced by a cage (or housing) at; pivoted about thehorizontal axis 4c7-8 arranged parallel to the pivotal axis (aa) of thecylinder of assemblage 19. Housing 4-6 has vertical rollers 4-9 andhorizontal rollers 50 between which a rod 51 having a bulk equal to thatof the slide of assemblage 19 is supported and guided. This rod'isprovided at one end with a fork 52 and a counterweight 53, and at theother end with a fork 54. the arms of which are pivoted on pins (ortrunnions) a l fixed on the collar 42 centered on the axis of thependulum and turning on rollers about the lower portion 1 of the bell ofthe pendulum. Each of the arms of the fork oaterminate in two verticallugs which bear on each side on two independent rollers 435 563 carriedby the pins 41. 4

A result of the same assemblage 40 is to nullify the component of theweight of the slide along its red on the pendulum; V

W' hen, after periods of inoperation, the compressed air being cut oil",the device is again set in operation, the following conditions are to befulfilled:

(1) The axis of the'pendulum and the axis of the stabilizer mustcoincide exactly, so that the pistons and their slides will be in therelative position desired for service.

(2) It is necessary that the common line of these two axes coincideswith the axis of tube 6. I s r (3) It is necessary that the vessel berigid with respect to its center of gravity, that is to say, does notpitch nor roll, so that the device will have no preliminary angulardeviation nor velocity with respect to its fixed operative position. V

(4E) The compressed air must be admitted before entering into operation,to assure immediate service.

These results are obtained:

(a) By looking together the pendulum 1 and the stabilizer for theperiods of inoperation in a position in which their axes coincideexactly, and'at the same time looking the assemblages with the vessel insuch manner that said common axis coincides with. the axis of tube 6rigidly connected to The locking and unlocking device is at- V tached toa frame 57 see Fig. 7 rigidly attached to the vessel housing andprotecting the apparatus, which may assume itsvarious positions thereinwith respect to the vessel. This frame is interrupted in the regions ofcontact with the toothed arcs and the pin ions and presents thereopenings for the escape of the air coming from the nozzles 10. Upon theframe 57 (Fig. 7) there is mounted an axle 58 supporting two pivotallymounted jaws 59-60, the ends of which may simultaneously grasp the rod 3of the pendulum and tube 14; of the stabilizer. These two jaws extendbeyond the axis 58 in the form of two slotted arms (it-62,- the slideblocks of which 6364 are pivoted to nuts 6566 mounted on a screw 67having oppositely disposed threads and actuated by the crank 68. Themanipulation of the jaws 5960, which creates or destroys the coop'eration of the pendulum and the stabilizer When the vessel pitches androlls, either.

while at a stand still or traveling at a speed too slow to cause theefficient operation of the ailerons (or blades), or if its movements areso slight as not to require moderation, it is of advantage to economizein the use of the compressed air consumed by the motors actuating theailerons by disengaging these motors from the ailerons, the

stabilizing apparatus, however, remainlng in operation. In accordancewith the pres ent invention, these clutching and releasing movements areeffected when the pinion is at thecenter of its toothed are 24:, sinceat this moment the ailerons are no longer in' engagement with themotors. It is suf-- ficient to connect or disconnect the pinion 25 withor from the slide 75 of the motor which it controls. This is easilyaccomplished, as shown diagrammatically in Fig. 8, by causing pinion 25to control a valve 71, which admits compressed air to the slide valvecasing 72 of cylinder 73. The piston 74E of this cylinder has its rodconnected to one end of a lever 73 which is pivotally mounted at 73 andhas its other end connected to the sliding portion of a clutch 73The'other portion of this clutch'is fixed to the pinion 25. The valve 71 will permit the passage of the air only when the pinion 25 is at thecenter of the are 2&. The upper end of the lever 73 carries lug81iwhich,

' when the clutch is disconnected, enters va lug 82PI'OVlCl8Cl in therotating slide 75 of the motors which operate theailerons.

WVhen the vessel is stationary about its center of gravity, in calmfluids, the pendulum, balanced by the weight about its point,

of suspension 5, is maintained stationary, and its axis is held inpermanent coincidence with'the axis of tube 6 as a result of the airblast from the nozzle 10. In agitated'fluids,

the pendulum is subjected to movements arising from these blasts, comingfromthe crown (of air nozzles), which is subject to movements,chieflyoscillatory, of the pitching? and rolling vessel, and also tomovement resulting from its. connections with the remainder of theapparatus and with the vessel by its point of suspension, which, in

reality, has a certain extent. Itis constructed in such manner as tovhave around the entire plane perpendicular tothe axis of tube V I it 6passing through point 5, a moment of inertia suiiiciently great to besubjected to oscillatory movements ofonly very slight am-- plitude, sothat practically thesame course may be followed as in a period of calm.The

stabilizer, which always follows the pendu lum 1, by reason of theoperation of the stabilizing cylinders, also'keeps the same course,while astothe toothed arcs 2324, the position of which is practically.fixed, the oscillating vessel causes the rolling of the pinions 25,which control the operation of the stabilizin ailerons of the vessel, onsaid arcs, the eflorts-exerted bythese pinions on the stabilizer beingfurther opposed by the compressed air of thestabilizing cylinders. i

I claim: i

An automatic stabilizing-device to prevent ipitching of vessels movingthrough fluids comprising a pendulum consisting of an -in. 1

deformable revolution element, a stabilizer, two cyhnders ofstablhzation connecting the pendulum to the stabilizer, two falsecylin-. i

ders symmetrical tothese cylinders withrespect to the point ofsuspension ofthe apparatus,'pinions supported by the vessel, stabilizingailerons having manipulating elements, toothed arcs attached to thestabi-a lizer, engaging said pinions and controlling the elements formanipulating the surfaces of the stabilizing ailerons, a hollow rodrigidly attached to the vessel and on which the pendulum is suspended atits i'center of gravity,said rod conveying compressed airto; thependulum, ablast nozzle crown carrled by said rod and located in a planeperpendicular to the axis of the rod, said crownuniformly distributingthe compressed air on theinner circumference of the pendulum in suchmanner as to constantly urge the axis of the pendulum into coaxialrelation with theaxis of the hollow: rod.

In testimony whereofI aflix' my signature.

LOUIS ISIDORE HENRY.

Witnesses:

, AUG. NOXIIET, PAUL DENEAU.

